Research On Communication And Coordination Of Multiple Autonomous Underwater Vehicles

As an inevitable development direction of the AUV, the MAUV( multiple autonomous underwater vehicles) technology has very broad application prospect. In the missions using MAUV, inter-vehicle communication is an important requirement. Underwater acoustic communications are mainly influenced by path loss, noise, multi-path, Doppler spread, and high and variable propagation delay. So it is difficult to accomplish reliable communication in underwater environment.Firstly, the AUV communication protocol stack is analyzed. The AUV communication protocol stack is also layered architecture. From bottom to top there are the physical layer, the data link layer, the network layer, the transport layer and the application layer, each layer has clear function.Secondly, this thesis analyzed the communication content of AUV, and divide the content into five classes. The application layer communication protocol is designed. The communication mechanism based on multi-bid is brought forward.In the following, the coordination of the MAUV is analyzed. A distributed bid algorithm is designed based on dynamic role assignment and multi-bid. It is a distributed and dynamic algorithm that can be used in dynamic environment. Taking the MAUV formation as basic task, the basic idea and the process of the algorithm is introduced. The nearness measure is used to increase a AUV's communication capability with other AUVs. A grace window is introduced to overcome the problem of information inconsistency caused by communication delay. The communication volume is reduced by appending ownership information in the tail of every piece of information.Finally, a simulation system is built to validate the communication protocol and the cooperation mechanism. The result is shown.